
#include <pcl/point_types.h>


using namespace std;
using namespace pcl;

int loadCloud(string path, PointCloud<PointXYZ>::Ptr cloud,float leafSize, bool segmentPlane, bool removeOut);
void removeOutliers(PointCloud<PointXYZ>::Ptr source,PointCloud<PointXYZ>::Ptr target, int meanK, double stdDev);
void removeOutliers(PointCloud<PointXYZI>::Ptr source,PointCloud<PointXYZI>::Ptr target, int meanK, double stdDev);
void voxel(PointCloud<PointXYZ>::Ptr cloud, float leafSize);
void segmentMainPlane(PointCloud<PointXYZ>::Ptr cloud, double planeThreshold);

